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fix(utils): more conservative sleep_margin default value in precise_sleep (#2985)

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Steven Palma
2026-02-18 17:32:25 +01:00
committed by GitHub
parent fcbf550952
commit b22e0315b0
1 changed files with 2 additions and 2 deletions
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src/lerobot/utils/robot_utils.py
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@@ -16,14 +16,14 @@ import platform
import time import time
def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: float = 0.003): def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: float = 0.005):
""" """
Wait for `seconds` with better precision than time.sleep alone at the expense of more CPU usage. Wait for `seconds` with better precision than time.sleep alone at the expense of more CPU usage.
Parameters: Parameters:
- seconds: duration to wait - seconds: duration to wait
- spin_threshold: if remaining <= spin_threshold -> spin; otherwise sleep (seconds). Default 10ms - spin_threshold: if remaining <= spin_threshold -> spin; otherwise sleep (seconds). Default 10ms
- sleep_margin: when sleeping leave this much time before deadline to avoid oversleep. Default 3ms - sleep_margin: when sleeping leave this much time before deadline to avoid oversleep. Default 5ms
Note: Note:
The default parameters are chosen to prioritize timing accuracy over CPU usage for the common 30 FPS use case. The default parameters are chosen to prioritize timing accuracy over CPU usage for the common 30 FPS use case.